Pub Date : 2013-04-23DOI: 10.1109/ICIT.2013.6505961
R. Saegusa, G. Metta, G. Sandini, L. Natale
The paper describes a framework for action learning in anthropomorphic robots. The key idea of the framework is that the robot voluntarily generates movements to identify its own body, and refers to the identified body in learning of fixation, reaching and grasping actions for object operation. Developmental body perception is critical to identify changing body parts in unknown or non-stationary environments. The consolidation of action learning with developmental body perception allows for continuous body awareness and anticipation of self-generated action's results. We evaluated the proposed framework in experiments with a real robot. In experiments, the robot achieved autonomous body identification, learning of fixation, reaching and gasping, and anticipation-based action planning as well as its execution in object operation tasks.
{"title":"Action learning based on developmental body perception","authors":"R. Saegusa, G. Metta, G. Sandini, L. Natale","doi":"10.1109/ICIT.2013.6505961","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505961","url":null,"abstract":"The paper describes a framework for action learning in anthropomorphic robots. The key idea of the framework is that the robot voluntarily generates movements to identify its own body, and refers to the identified body in learning of fixation, reaching and grasping actions for object operation. Developmental body perception is critical to identify changing body parts in unknown or non-stationary environments. The consolidation of action learning with developmental body perception allows for continuous body awareness and anticipation of self-generated action's results. We evaluated the proposed framework in experiments with a real robot. In experiments, the robot achieved autonomous body identification, learning of fixation, reaching and gasping, and anticipation-based action planning as well as its execution in object operation tasks.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121977360","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-04-23DOI: 10.1109/ICIT.2013.6505826
P. Phalguni, K. Ganapathi, V. Madumbu, R. Rajendran, S. David
This paper discusses the design and processor implementation of a system that detects and recognizes traffic signs present in an image. Morphological operators, segmentation and contour detection are used for isolating the Regions of Interest (ROIs) from the input image, while five methods - Hu moment matching, histogram based matching, Histogram of Gradients based matching, Euclidean distance based matching and template matching are used for recognizing the traffic sign in the ROI. A classification system based on the shape of the sign is adopted. The performance of the various recognition methods is evaluated by comparing the number of clock cycles used to run the algorithm on the Texas Instruments TMS320C6748 processor. The use of multiple methods for recognizing the traffic signs allows for customization based on the performance of the methods for different datasets. The experiments show that the developed system is robust and well-suited for real-time applications and achieved recognition and classification accuracies of upto 90%.
{"title":"Design and implementation of an automatic traffic sign recognition system on TI OMAP-L138","authors":"P. Phalguni, K. Ganapathi, V. Madumbu, R. Rajendran, S. David","doi":"10.1109/ICIT.2013.6505826","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505826","url":null,"abstract":"This paper discusses the design and processor implementation of a system that detects and recognizes traffic signs present in an image. Morphological operators, segmentation and contour detection are used for isolating the Regions of Interest (ROIs) from the input image, while five methods - Hu moment matching, histogram based matching, Histogram of Gradients based matching, Euclidean distance based matching and template matching are used for recognizing the traffic sign in the ROI. A classification system based on the shape of the sign is adopted. The performance of the various recognition methods is evaluated by comparing the number of clock cycles used to run the algorithm on the Texas Instruments TMS320C6748 processor. The use of multiple methods for recognizing the traffic signs allows for customization based on the performance of the methods for different datasets. The experiments show that the developed system is robust and well-suited for real-time applications and achieved recognition and classification accuracies of upto 90%.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125490305","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-04-23DOI: 10.1109/ICIT.2013.6505734
M. Tomlinson, T. Mouton, R. Kennel, P. Stolze
This paper discusses the control of an AC-to-AC converter that forms part of an 11 kV electronic voltage regulator. A novel finite-set model predictive control technique is presented to allow fixed frequency switching. A fixed switching period is defined and divided into smaller evaluation steps. The switching behaviour is obtained by using the analogy of PWM with a triangular carrier wave. During the first half of the switching period, the system may only switch from the on-state to the off-state and during the second half, only from the off-state to the on-state. To account for the repetitive nature of the switching waveform, an average receding horizon prediction method is introduced. An anticipated prediction is made by calculating the average value for one switching period ahead, according to the position and state in the current switching period. The method presented good practical results and proved to be effective in maintaining a fixed switching frequency.
{"title":"Model predictive control with a fixed switching frequency for an AC-to-AC converter","authors":"M. Tomlinson, T. Mouton, R. Kennel, P. Stolze","doi":"10.1109/ICIT.2013.6505734","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505734","url":null,"abstract":"This paper discusses the control of an AC-to-AC converter that forms part of an 11 kV electronic voltage regulator. A novel finite-set model predictive control technique is presented to allow fixed frequency switching. A fixed switching period is defined and divided into smaller evaluation steps. The switching behaviour is obtained by using the analogy of PWM with a triangular carrier wave. During the first half of the switching period, the system may only switch from the on-state to the off-state and during the second half, only from the off-state to the on-state. To account for the repetitive nature of the switching waveform, an average receding horizon prediction method is introduced. An anticipated prediction is made by calculating the average value for one switching period ahead, according to the position and state in the current switching period. The method presented good practical results and proved to be effective in maintaining a fixed switching frequency.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"68 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120819638","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-04-23DOI: 10.1109/ICIT.2013.6505754
O. Asowata, J. Swart, C. Pienaar
The purpose of this paper is to correlate the power conversion of a photovoltaic (PV) panel to the global solar irradiance obtained from a software package called Meteonorm. Power conversion time is defined as the percentage of time in which a PV panel is converting solar energy into electrical energy and was determined for a nine month period from April through December 2011. Preliminary results, which include regression analysis (R2), conversion-time per week and work-time per day, indicate a favorably comparison between the empirical results and the simulation results.
{"title":"Correlating the power conversion of a PV panel to the solar irradiance obtained from Meteonorm","authors":"O. Asowata, J. Swart, C. Pienaar","doi":"10.1109/ICIT.2013.6505754","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505754","url":null,"abstract":"The purpose of this paper is to correlate the power conversion of a photovoltaic (PV) panel to the global solar irradiance obtained from a software package called Meteonorm. Power conversion time is defined as the percentage of time in which a PV panel is converting solar energy into electrical energy and was determined for a nine month period from April through December 2011. Preliminary results, which include regression analysis (R2), conversion-time per week and work-time per day, indicate a favorably comparison between the empirical results and the simulation results.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121017961","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-04-23DOI: 10.1109/ICIT.2013.6505946
A. Nnachi, J. Munda, D. Nicolae, A. M. Mabwe
The pressure of increasing power demand and supply inequality is forcing utilities to interconnect AC systems to meet demands. High Voltage Direct Current (HVDC) schemes are becoming a more attractive solution as they have been used extensively in interconnected power systems worldwide. This paper investigates the role of voltage source converter (VSC) based HVDC transmission corridor for PV power injection and for AC network stability support. Overview of Namibia Caprivi-link interconnector a case study, potential of very large scale PV in Namibia and prospects of PV power injection on the DC-link is presented. The system is modelled simulated in Matlab/Simulink. Critical contingencies such as sudden island conditions, three-phase to ground fault are simulated with and without PV penetration. Results show the stability support on the AC side networks by PV power injection on the dc-link.
{"title":"VSC HVDC transmission corridor: An option for PV power injection and AC network stability support","authors":"A. Nnachi, J. Munda, D. Nicolae, A. M. Mabwe","doi":"10.1109/ICIT.2013.6505946","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505946","url":null,"abstract":"The pressure of increasing power demand and supply inequality is forcing utilities to interconnect AC systems to meet demands. High Voltage Direct Current (HVDC) schemes are becoming a more attractive solution as they have been used extensively in interconnected power systems worldwide. This paper investigates the role of voltage source converter (VSC) based HVDC transmission corridor for PV power injection and for AC network stability support. Overview of Namibia Caprivi-link interconnector a case study, potential of very large scale PV in Namibia and prospects of PV power injection on the DC-link is presented. The system is modelled simulated in Matlab/Simulink. Critical contingencies such as sudden island conditions, three-phase to ground fault are simulated with and without PV penetration. Results show the stability support on the AC side networks by PV power injection on the dc-link.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"104 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127458004","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-04-23DOI: 10.1109/ICIT.2013.6505863
M. Ehammer, F. Bennison
Civil aviation business is currently experiencing the beginning of an operational change from voice based toward data based control mechanisms. This change shall be accompanied through a technological improvement that is in particular a change from an ISO/OSI toward a TCP/IP based network infrastructure. This paper presents outcomes of two independent investigations of utilizing the initial specification for the Aeronautical Telecommunication Network (ATN) using Internet Protocol Suite (IPS) standards and protocols via aeronautical data links. Thereby, both studies had one common objective, namely the validation of the ATN/IPS via aeronautical data links. One study was conducted by University of Salzburg through the evaluation of simulations, while the other study was conducted by the Swedish air navigation service provider LFV through flight trials based on real protocol implementations. Despite the difference of the evaluation scenarios the conclusions that can be drawn from both studies are similar.
{"title":"Internet Protocol for aeronautical communications","authors":"M. Ehammer, F. Bennison","doi":"10.1109/ICIT.2013.6505863","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505863","url":null,"abstract":"Civil aviation business is currently experiencing the beginning of an operational change from voice based toward data based control mechanisms. This change shall be accompanied through a technological improvement that is in particular a change from an ISO/OSI toward a TCP/IP based network infrastructure. This paper presents outcomes of two independent investigations of utilizing the initial specification for the Aeronautical Telecommunication Network (ATN) using Internet Protocol Suite (IPS) standards and protocols via aeronautical data links. Thereby, both studies had one common objective, namely the validation of the ATN/IPS via aeronautical data links. One study was conducted by University of Salzburg through the evaluation of simulations, while the other study was conducted by the Swedish air navigation service provider LFV through flight trials based on real protocol implementations. Despite the difference of the evaluation scenarios the conclusions that can be drawn from both studies are similar.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127492235","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-04-23DOI: 10.1109/ICIT.2013.6505690
J. L. Azcue-Puma, A. S. Sguarezi Filho, E. Ruppert
The conventional direct field oriented control scheme has two PI current controllers, and with the aim to reduce the quantity of these controllers, it is proposed a unique Fuzzy Current Controller (FCC) to substitute both PI controllers. The FCC calculates the quadrature components of the stator voltage vector, necessary to maintain the load. The rule base for the proposed controller is defined as a function of the stator current error components. The FCC takes trapezoidal and triangular membership functions for fuzzification of its inputs. The performance of the proposed FCC controller is analyzed through several tests such as: trapezoidal and triangular profile speed reversion, a step change in speed reference and a step change in the load reference with constant speed. The Experimental results show that the proposed FCC ensures decoupling current control and low current ripple, validating the proposed controller.
{"title":"Direct-FOC with Fuzzy Current Control for asynchronous machine","authors":"J. L. Azcue-Puma, A. S. Sguarezi Filho, E. Ruppert","doi":"10.1109/ICIT.2013.6505690","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505690","url":null,"abstract":"The conventional direct field oriented control scheme has two PI current controllers, and with the aim to reduce the quantity of these controllers, it is proposed a unique Fuzzy Current Controller (FCC) to substitute both PI controllers. The FCC calculates the quadrature components of the stator voltage vector, necessary to maintain the load. The rule base for the proposed controller is defined as a function of the stator current error components. The FCC takes trapezoidal and triangular membership functions for fuzzification of its inputs. The performance of the proposed FCC controller is analyzed through several tests such as: trapezoidal and triangular profile speed reversion, a step change in speed reference and a step change in the load reference with constant speed. The Experimental results show that the proposed FCC ensures decoupling current control and low current ripple, validating the proposed controller.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"149 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116569887","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-04-23DOI: 10.1109/ICIT.2013.6505883
R. Visser, J. Pretorius, L. Pretorius
Well planned research may play an integral part in the life of a mine or project and creates a practical plan of running and developing the mine. These research results for the case study company may be used as a practical strategic mine plan, in the end not only pro-long the life of the mine but achieve targeted value and tonnes for the specific plant. This research provides four different scenarios whereby there are certain constraints applied, and the outcome of the schedules used to make a calculated decision on the best way of mining a specific ore body.
{"title":"A case study in developing a life of mine plan","authors":"R. Visser, J. Pretorius, L. Pretorius","doi":"10.1109/ICIT.2013.6505883","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505883","url":null,"abstract":"Well planned research may play an integral part in the life of a mine or project and creates a practical plan of running and developing the mine. These research results for the case study company may be used as a practical strategic mine plan, in the end not only pro-long the life of the mine but achieve targeted value and tonnes for the specific plant. This research provides four different scenarios whereby there are certain constraints applied, and the outcome of the schedules used to make a calculated decision on the best way of mining a specific ore body.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"27 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116686074","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-04-23DOI: 10.1109/ICIT.2013.6505797
M. Taberer, A. Roberts, R. T. Harris, W. Phipps
The research work conducted in this paper is the evaluation of real time values obtained using two OMICRON 356's at two independent locations and implementing them as recorder devices in Eskom's power system. A derived model within DIgSILENT is created and EMT studies are performed and compared to the real time values obtained. Transformers are normally closed via an auxiliary contact. Thus by applying system voltage at a random instant in time on the transformer windings result in a high transient magnetizing inrush current which causes high orders of 2nd harmonic currents to flow under no load conditions. A philosophy to mitigating these currents is to energize the transformer by controlling the circuit breaker closing times such that the magnetic flux produced in the windings corresponds to the prospective flux in the core. Transients produced can cause nuisance tripping's at the particular location where the respective transformers are energized. OMICRON EnerLyzer is the software tool used for the Comtrade recordings at both locations. Two “real time” case studies are evaluated using OMICRON EnerLyzer and TOP software. Results are formulated and then evaluated against a derived Electromagnetic transient model using DIgSILENT software.
{"title":"Transient analysis of erroneous tripping at Grassridge SVC","authors":"M. Taberer, A. Roberts, R. T. Harris, W. Phipps","doi":"10.1109/ICIT.2013.6505797","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505797","url":null,"abstract":"The research work conducted in this paper is the evaluation of real time values obtained using two OMICRON 356's at two independent locations and implementing them as recorder devices in Eskom's power system. A derived model within DIgSILENT is created and EMT studies are performed and compared to the real time values obtained. Transformers are normally closed via an auxiliary contact. Thus by applying system voltage at a random instant in time on the transformer windings result in a high transient magnetizing inrush current which causes high orders of 2nd harmonic currents to flow under no load conditions. A philosophy to mitigating these currents is to energize the transformer by controlling the circuit breaker closing times such that the magnetic flux produced in the windings corresponds to the prospective flux in the core. Transients produced can cause nuisance tripping's at the particular location where the respective transformers are energized. OMICRON EnerLyzer is the software tool used for the Comtrade recordings at both locations. Two “real time” case studies are evaluated using OMICRON EnerLyzer and TOP software. Results are formulated and then evaluated against a derived Electromagnetic transient model using DIgSILENT software.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134128673","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-04-23DOI: 10.1109/ICIT.2013.6505712
S. González, M. Valla
The power quality (PQ) in distribution systems is principally affected by the pollution introduced by the customers. It is necessary to protect the sensitive loads from disturbances such as sags, swells, source voltage imbalances, etc. The actual solution for this case is to employ a dynamic voltage restorer (DVR) device. The use of multilevel inverters in medium voltage applications is a good solution. In particular, the cascaded asymmetric multilevel converter (CAMC) appears as a very attractive alternative among the 5-level converters for this application. The design of the CAMC as a DVR in a medium voltage distribution power system is presented in this paper. The model and the control strategy are discussed in d-q coordinates synchronous with the source voltage. The performance of the proposed compensator is tested with SPICE simulations.
{"title":"A DVR built with a 5-level cascade asymmetric multilevel converter","authors":"S. González, M. Valla","doi":"10.1109/ICIT.2013.6505712","DOIUrl":"https://doi.org/10.1109/ICIT.2013.6505712","url":null,"abstract":"The power quality (PQ) in distribution systems is principally affected by the pollution introduced by the customers. It is necessary to protect the sensitive loads from disturbances such as sags, swells, source voltage imbalances, etc. The actual solution for this case is to employ a dynamic voltage restorer (DVR) device. The use of multilevel inverters in medium voltage applications is a good solution. In particular, the cascaded asymmetric multilevel converter (CAMC) appears as a very attractive alternative among the 5-level converters for this application. The design of the CAMC as a DVR in a medium voltage distribution power system is presented in this paper. The model and the control strategy are discussed in d-q coordinates synchronous with the source voltage. The performance of the proposed compensator is tested with SPICE simulations.","PeriodicalId":192784,"journal":{"name":"2013 IEEE International Conference on Industrial Technology (ICIT)","volume":"347 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134524878","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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